ship collision avoidance with cbf & clf project
Budget: $30 – $250 USD
Ship collision avoidance must be implemented with the stages stated below.
1- Implementation of CBF-CLF (modelling ship) with the provided sensor data on electronic chart.
2- Trajectory (position) estimation of dynamic objects.
3- Modelling external disturbances with Extended State/Disturbance Uncertinty Observer or similar method.
4- Application of COLREG Rules (attached in the excel file) to the implemented CBF-BLF for collison avoidance for each scenario provided (optimization for motion planning).
Include graphics, figures and gifs or videos for presentation of motion for each scenario.
Relative motion of ships will be considered while application of these rules (You can find formulation for relative motion in the attached excel file).
5- Documentation (nomenclature of full work and block diagram/flow chart of the project, detailed explanation of the works done and methods used).
1- Implementation of CBF-CLF (modelling ship) with the provided sensor data on electronic chart.
2- Trajectory (position) estimation of dynamic objects.
3- Modelling external disturbances with Extended State/Disturbance Uncertinty Observer or similar method.
4- Application of COLREG Rules (attached in the excel file) to the implemented CBF-BLF for collison avoidance for each scenario provided (optimization for motion planning).
Include graphics, figures and gifs or videos for presentation of motion for each scenario.
Relative motion of ships will be considered while application of these rules (You can find formulation for relative motion in the attached excel file).
5- Documentation (nomenclature of full work and block diagram/flow chart of the project, detailed explanation of the works done and methods used).
Related categories:
MATLAB